To my knowledge, there are very few commentaries that incorporate a 1st century Jewish worldview. Paula Fredricksen and John Harrigan have done quite a bit of work on reading the Bible through that lens. Interestingly enough, Paula is not a believer, but her work as a literary historian is excellent. Hope this helps answer your question!
Harrigan: https://www.amazon.com/Gospel-Christ-Crucified-Theology-Suffering/dp/0996495541
Fredricksen: https://www.amazon.com/gp/product/B009QJMWI4/ref=dbs_a_def_rwt_hsch_vapi_tkin_p1_i5